Positioning method and device

Abstract

A positioning method and device are provided. The positioning method provided in the present application includes: determining an integer ambiguity according to a positioning measurement value provided by a receiving end of a positioning reference signal (PRS), the positioning measurement value includes a virtual phase measurement value constructed by the receiving end using a carrier phase measurement value, the carrier phase measurement value being obtained by measuring a carrier PRS (C-PRS) by the receiving end, and the PRS includes the C-PRSs sent by a sending end of the PRS via at least two carrier frequencies; and determining a terminal position according to the integer ambiguity.

What is claimed is: 
     
         1 . A positioning method, comprising:
 determining an integer ambiguity according to a positioning measurement value provided by a receiving end of a positioning reference signal, wherein the positioning measurement value comprises a virtual phase measurement value constructed by the receiving end via utilizing a carrier phase measurement value, the carrier phase measurement value is obtained by measuring Carrier Phase Positioning Reference Signals (C-PRSs) by the receiving end, and the positioning reference signal comprises C-PRSs sent by a sending end of the positioning reference signal via at least two carrier frequencies; and   determining a terminal position according to the integer ambiguity.   
     
     
         2 . The method according to  claim 1 , wherein determining the integer ambiguity according to the positioning measurement value provided by the receiving end of the positioning reference signal comprises:
 determining a first integer ambiguity according to the virtual phase measurement value and a Time of Arrival (TOA) measurement value;   determining a second integer ambiguity by calculating the first integer ambiguity utilizing an Extended Kalman Filter (EKF), and determining a third integer ambiguity based on the second integer ambiguity.   
     
     
         3 . The method according to  claim 2 , wherein for an m-th base station, a target terminal i and a reference terminal j, when the sending end of the positioning reference signal sends a first C-PRS via a first carrier frequency and sends a second C-PRS via a second carrier frequency, the first integer ambiguity N v,m   ij  is determined by a formula as follow:
     N   v,m   ij =(λ v   P   v,m   ij   −T   m   ij )/λ v +( w   T,m   ij   −w   v,m   ij )/λ v  
   wherein λ v   −1 =λ 1   −1 −λ 2   −1 , λ 1  represents a carrier wavelength of the first C-PRS, λ 2  represents a carrier wavelength of the second C-PRS, wherein P v,m   ij =P 1,m   ij −P 2,m   ij ,P 1,m   ij  represents a phase single-difference measurement value in the unit of a cycle of the first carrier frequency, P 2,m   ij  represents a phase single-difference measurement value in the unit of a cycle of the second carrier frequency, T m   ij  represents a single-difference TOA measurement value in the unit of meters, w T,m   ij  represents a single-difference TOA measurement error, and wherein w v,m   ij =(λ 2 w 1,m   ij −λ 1 w 2,m   ij )/(λ 2 −λ 1 ), w 1,m   ij  and w 2,m   ij  represent single-difference phase measurement errors of a first carrier and a second carrier, respectively.   
     
     
         4 . The method according to  claim 3 , wherein the determining a second integer ambiguity by calculating the first integer ambiguity utilizing the EKF, comprises:
 determining a second integer ambiguity N v,1,ekf   ij , . . . , N v,m,ekf   ij  by inputting parameters N v,1   ij , . . . , N v,m   ij , P v,1   ij , . . . , P v,m   ij , λ v , T 1   ij , . . . , T m   ij  into the EKF, wherein N v,m,ekf   ij  is a second integer ambiguity of a carrier for the m-th base station.   
     
     
         5 . The method according to  claim 4 , wherein a third integer ambiguity N 1,m   ij  of a first carrier and a third integer ambiguity N 2,m   ij  of a second carrier for the m-th base station are determined by following formulas:
     N   1,m   ij =(λ 1   P   1,m   ij −λ v   P   v,m   ij +λ v   N   v,m,ekf   ij )/λ 1 +( w   v,m   ij   −w   1,m   ij )/λ 1 ,
       N   2,m   ij =(λ 2   P   2,m   ij −λ v   P   v,m   ij +λ v   N   v,m,ekf   ij )/λ 2 +( w   v,m   ij   −w   2,m   ij )/λ 2 .
   
     
     
         6 . The method according to  claim 2 , wherein determining a terminal position according to the integer ambiguity comprises: determining the terminal position according to the third integer ambiguity. 
     
     
         7 . A positioning device, comprising:
 a memory, configured to store program instructions;   a processor, configured to call the program instructions stored in the memory, and to execute the method of  claim 1 .   
     
     
         8 . The device according to  claim 7 , wherein the processor is configured to:
 determine a first integer ambiguity according to the virtual phase measurement value and a Time of Arrival (TOA) measurement value;   determine a second integer ambiguity by calculating the first integer ambiguity utilizing an Extended Kalman Filter (EKF), and; determine a third integer ambiguity based on the second integer ambiguity.   
     
     
         9 . The device according to  claim 8 , wherein for an m-th base station, a target terminal i and a reference terminal j, when the sending end of the positioning reference signal sends a first C-PRS via a first carrier frequency and sends a second C-PRS via a second carrier frequency, the processor determines the first integer ambiguity N v,m   ij  by a formula as follow:
     N   v,m   ij =(λ v   P   v,m   ij   −T   m   ij )/λ v +( w   T,m   ij   −w   v,m   ij )/λ v  
   wherein λ v   −1 =λ 1   −1 −λ 2   −1 , λ 1  represents a carrier wavelength of the first C-PRS, λ 2  represents a carrier wavelength of the second C-PRS; wherein P v,m   ij =P 1,m   ij −P 2,m   ij , P 1,m   ij  represents a phase single-difference measurement value in the unit of a cycle of the first carrier frequency, P 2,m   ij  represents a phase single-difference measurement value in the unit of a cycle of the second carrier frequency, T m   ij  represents a single-difference TOA measurement value in the unit of meters, w T,m   ij  represents a single-difference TOA measurement error, wherein w v,m   ij =(λ 2 w 1,m   ij −λ 1 w 2,m   ij )/(λ 2 −λ 1 ), w 1,m   ij  and w 2,m   ij  are single-difference phase measurement errors of a first carrier and a second carrier, respectively.   
     
     
         10 . The device according to  claim 9 , wherein the processor is configured to:
 determine a second integer ambiguity N v,1,ekf   ij , . . . , N v,m,ekf   ij  by inputting parameters N v,1   ij , . . . , N v,m   ij , P v,1   ij , . . . , P v,m   ij , λ v , T 1   ij , . . . , T m   ij  into the EKF, wherein N v,m,ekf   ij  is a second integer ambiguity of a carrier for the m-th base station.   
     
     
         11 . The device according to  claim 10 , the processor is configured to determine a third integer ambiguity N 1,m   ij  of a first carrier and a third integer ambiguity N 2,m   ij  of a second carrier for the m-th base station by the following formulas:
     N   1,m   ij =(λ 1   P   1,m   ij −λ v   P   v,m   ij +λ v   N   v,m,ekf   ij )/λ 1 +( w   v,m   ij   −w   1,m   ij )/λ 1 ,
       N   2,m   ij =(λ 2   P   2,m   ij −λ v   P   v,m   ij +λ v   N   v,m,ekf   ij )/λ 2 +( w   v,m   ij   −w   2,m   ij )/λ 2 .
   
     
     
         12 . The device according to  claim 8 , the processor is configured to determine the terminal position according to the third integer ambiguity. 
     
     
         13 . A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer executable instructions that are configured to cause a computer to perform the method according to  claim 1 .